Method and device for treating a vehicle with at least one outer surface

Abstract

The invention relates to a method for treating a vehicle with at least one outer surface, having the steps of a) adjusting the angle of a treatment brush relative to the vertical in at least one specified angular range parallel and / or perpendicular to the outer surface; b) guiding the treatment brush along the at least one outer surface on a path during the treatment process; c) monitoring the angle of the treatment brush to the vertical parallel and / or perpendicular to the outer surface during step b); and d) adapting the path of the treatment brush if a deviation of the monitored angle of the treatment brush from the at least one specified angular range is ascertained in step c). The invention additionally relates to a device for treating a vehicle with at least one outer surface, to a use of the device for treating a vehicle with at least one outer surface, and to a computer program product.

Description

[0001] The present invention relates to a method and a device for treating a vehicle having at least one outer surface, a use of the device for treating a vehicle having at least one outer surface, and a computer program product.

[0002] In car washing systems, such as gantry car washes or car wash tunnels, the surfaces of the vehicle are typically cleaned with, for example, rotating wash brushes that are guided along the surfaces in predetermined paths. Protruding attachments on the vehicle are taken into account using global strategies in order to avoid collisions or damage to the vehicle and / or the wash brush. One example of this is a way around side mirrors. In the forward movement the wash brush is locked in the vertical position. In the return movement the wash brush is placed against the vehicle but is straightened again from approximately the middle of the vehicle to protect the side mirror from damage. The straight position of the wash brush is only achieved depending on the vehicle length, e.g. from the middle of the vehicle, and a fixed time for a movement away from the vehicle.However, this doesn't always result in optimal cleaning of the areas behind the side mirror. Global strategies are typically used for vehicle contours that can be generalized to any vehicle.

[0003] If the vehicle has unusual attachments or special contours, special vehicle wash procedures typically need to be initiated, e.g., by selecting a special program. Examples include the pickup truck or roof box program. Roof boxes can be driven under near the windshield and torn from their anchorage by the lifting movement of the roof brush. This geometry cannot be handled without a special procedure with a rigidly mounted roof brush and a fixed program.

[0004] Furthermore, the typical car wash process is inflexible with regard to changing vehicle contours or positions, such as when the vehicle rolls away or a tailgate or side door opens. Likewise, disruptions in the washing process can cause vibrations in the machine's mechanical system, making a normal wash cycle impossible.

[0005] Document DE 10 2017 116 174.0 shows a device and a method for cleaning a vehicle, wherein the inclination of the side brush is adjusted to a fixed value corresponding to the inclination of an outer surface.

[0006] The task is to provide a device and a method for treating a vehicle that enables a thorough treatment result as well as high operational reliability and avoids vehicle damage.

[0007] This object is achieved by a method according to claim 1 and a device according to claim 7, as well as a use according to claim 14 and a computer program product according to claim 15.

[0008] A first embodiment of the invention relates to a method for treating, in particular cleaning, a vehicle having at least one outer surface with the features of patent claim 1.

[0009] By monitoring the angle of the treatment brush during the treatment process, the method of the above embodiment enables unforeseen and / or undesirable situations or vehicle contours to be automatically detected and counteracted with appropriate special sequences. The method thus allows the treatment brush to be guided along a path that is adapted to the entire outer contour of the vehicle. This results in a particularly thorough treatment of the vehicle. At the same time, the method can be used to ensure that the brush approaches the vehicle safely during treatment. Furthermore, the device can counteract undesirable vibration of the brush by detecting even small deviations of the angle of the treatment brush from the predetermined angular range and adapting the path of the treatment brush.Therefore, operational safety during the vehicle treatment process is increased and vehicle damage is avoided.

[0010] In particular, monitoring the treatment process based on the angle of the treatment brush relative to the vertical is significantly more sensitive than previous monitoring methods, especially compared to monitoring based on the power consumption of the brush drive or the rotation of the brush. Furthermore, monitoring the treatment process based on the angle of the treatment brush relative to the vertical enables the path of the treatment brush to be adapted much more quickly than monitoring based on the power consumption of the brush drive or the rotation of the brush. The latter monitoring methods exhibit a relatively long dead time, i.e., a long period during which an existing malfunction or deviation from the desired treatment process is not detected.By monitoring the treatment process based on the angle of the treatment brush relative to the vertical, however, any unusual deflection of the brush can be detected before the brush becomes blocked, for example, by snagging on the vehicle, or before it collides with or damages the vehicle due to an unusual vehicle contour or shift in position. This is based on the fact that the material of the treatment brush is in continuous contact with the vehicle either initially or during the treatment process, so that unusual situations very quickly affect the brush's orientation relative to the vertical.

[0011] In the invention, the angle of the treatment brush is adjusted in step a) while providing pivotability of the treatment brush.

[0012] For example, a pivotability, also called residual free pivotability, of at least + / -5°, preferably at least + / -1°, more preferably at least + / -0.5°, can be provided. In the case of a substantially rigidly suspended treatment brush, the residual free pivotability can be at least + / -1°. In the case of a substantially freely oscillating or freely pendulum-suspended treatment brush, a residual free pivotability of at least + / -5 can be provided. The order of steps a) to c), where c) is linked to d), can be varied in embodiments. The treatment brush can also rotate at least during or in the course of the treatment process. If a deviation is determined in step c), the data of the position of the deviation on the outer surface can also be determined.

[0013] Adapting the path can comprise at least one step selected from i) repeating at least one of steps a) to d); ii) repeating at least one of steps a) to d) with a modified distance of the treatment brush from the outer surface; iii) repeating at least one of steps a) to d) with a modified angle of the treatment brush to the vertical parallel and / or perpendicular to the outer surface; iv) repeating at least step b) of steps a) to d), wherein in step b) a change of direction is made when moving along; v) bypassing a contour of the outer surface causing the deviation of the monitored angle; vi) increasing the distance of the treatment brush from the outer surface; vii) separating the treatment brush from the vehicle; viii) ending a rotation of the treatment brush; ix) treating a contour of the outer surface causing the deviation of the monitored angle with at least one other treatment brush;x) changing the direction of rotation of the treatment brush; xi) varying the sensitivity of the power measurement, in particular increasing the sensitivity of the power measurement; and xii) checking the feasibility of at least one of steps i) to xi) and interrupting or terminating the treatment process if it is determined that at least one of steps i) to xi) is not feasible.

[0014] In step iv), the change of direction can be made at the beginning, at the end, or while the treatment brush is moving along the outer surface. In steps i) to v), steps b) to d) can be repeated in particular or only. Steps i) to x) are each measures that can be used to counteract a disruption or deviation from the desired treatment process in a highly flexible and timely manner by guiding the brush along an appropriately adapted path.

[0015] In embodiments of the method, the treatment brush can be guided along the at least one outer surface on one or more adapted paths until at least one of the following conditions is met: the monitored angle of the treatment brush is within at least one predetermined angular range; the path of the treatment brush has been adapted a predetermined number of times; and the treatment brush has been guided along the outer surface on one or more adapted paths for a predetermined time. This ensures that the adaptation of the path is only carried out for as long as necessary, i.e., as long as the disturbance or deviation from the desired angle of the treatment brush to the vertical persists.

[0016] The at least one exterior surface may be selected from a side surface, a rear surface, a front surface, a roof surface, any combination thereof, and any number thereof, and the at least one predetermined angular range may be limited by an upper limit and / or a lower limit that varies depending on the type of exterior surface.

[0017] Furthermore, according to the invention, the at least one outer surface is selected from a side surface, a rear surface, a front surface, any combination thereof and any number thereof, and the at least one predetermined angular range may be limited by an upper limit and / or a lower limit which vary depending on the height of the outer surface.

[0018] These specific limits allow the sensitivity of the monitoring of step c) to be adjusted and varied, for example depending on the type and / or height of the external surface or the type of vehicle.

[0019] Furthermore, the at least one outer surface can be selected from a side surface, a rear surface, a front surface, any combination thereof, and any number thereof, and the at least one predetermined angular range can be -45° to +45° to the vertical. In particular, for an inclination of the treatment brush towards the outer surface, the at least one predetermined angular range can preferably be -10° to +30° to the vertical, more preferably -5° to +30° to the vertical. Furthermore, the at least one outer surface can be a roof surface, and the at least one predetermined angular range can be -85° to +85°, preferably -80° to +80°, to the vertical.

[0020] In further embodiments, step c) can be performed using an angle sensor or an inclination sensor. This has the advantage that the vertical orientation of the treatment brush can be monitored intermittently or continuously during the treatment process. In embodiments, a combined acceleration-rotation rate sensor or a combination of gyroscope and acceleration sensor can be used as the inclination sensor. These advantageously operate unaffected by vibrations.

[0021] The angle sensor can comprise a magnet and a magnetic field sensor. This has the advantages that the function of the angle sensor is not dependent on temperature and humidity, is insensitive to vibrations, and is also not influenced by water pressure. The same applies when using an inclination sensor. The angle sensor can be arranged at least partially on an axis corresponding to the angle of the treatment brush to the vertical, e.g. on an inclination axis that specifies the angle of inclination of the brush. This allows the orientation of the treatment brush to be precisely determined. In particular, the axis or inclination axis can correspond to a pivot axis of the brush, by means of which the angle of the treatment brush is adjusted. Furthermore, the magnet can be arranged away from the magnetic field sensor on the inclination axis of the brush. The angle of the cleaning brush can thus be determined continuously with particularly high accuracy.In addition, a change in the orientation of the magnetic field of a magnet can be detected in step c). Alternatively, the angle sensor can be designed as a laser angle sensor, in which a laser beam is deflected by a reflective surface that is aligned according to the orientation of the brush.

[0022] According to other embodiments, the contour and / or position of the outer surface can be determined in the method. Light barriers, for example, can be used for this purpose. Furthermore, the treatment brush can rotate, particularly in step b). Step c) can comprise at least one step selected from: monitoring the power consumption of the rotating treatment brush and monitoring the rotation of the rotating treatment brush.

[0023] A further embodiment of the invention relates to a device for treating, in particular cleaning, a vehicle having at least one outer surface using a method according to one of the preceding embodiments, having the features of patent claim 7.

[0024] The treatment brush can be rotatably mounted, and the device can comprise a brush rotation drive. The device for adapting the path of the treatment brush can be or comprise a data-processing storage and control unit that is connected in a data-conducting manner to at least one device selected from the brush displacement device, the brush rotation drive, the device for adjusting an angle of the treatment brush, and the device for monitoring the angle of the treatment brush, which is designed to store data received from these devices and is designed to control the method according to one of the preceding embodiments. The brush displacement device can be designed to determine the data of the position on the outer surface at which the monitored angle of the treatment brush deviates from the at least one predetermined angular range and / or to transmit it to the storage and control unit.

[0025] At least one element selected from the treatment brush, the brush displacement device, and the brush rotation drive can be controlled by the device for adapting the path of the treatment brush, in particular by the storage and control unit. Furthermore, a program, in particular a computer program, can be implemented in the device for adapting the path of the treatment brush, in particular in the storage and control unit, which is designed to cause the device to execute a method according to one of the preceding embodiments.

[0026] The at least one exterior surface may be selected from a side surface, a rear surface, a front surface, a roof surface, any combination thereof, and any number thereof, and the at least one predetermined angular range may be limited by an upper limit and / or a lower limit that varies depending on the type of exterior surface.

[0027] According to the invention, the at least one outer surface is selected from a side surface, a rear surface, a front surface, any combination thereof and any number thereof, and the at least one predetermined angular range may be limited by an upper limit and / or a lower limit which varies depending on the height of the outer surface.

[0028] In the aforementioned embodiments, the at least one outer surface may be selected from a side surface, a rear surface, a front surface, any combination thereof, and any number thereof, and the at least one predetermined angular range may be -45° to +45° to the vertical.

[0029] In particular, for an inclination of the treatment brush toward the outer surface, the at least one predetermined angular range can preferably be -10° to +30° to the vertical, more preferably -5° to +30° to the vertical. Furthermore, the at least one outer surface can be a roof surface, and the at least one predetermined angular range can be -85° to +85°, preferably -80° to +80°, to the vertical.

[0030] The device for monitoring the angle of the treatment brush can comprise an angle sensor or an inclination sensor. In some embodiments, a combined acceleration / rotation rate sensor or a combination of a gyroscope and an acceleration sensor can be used as the inclination sensor. These advantageously operate unaffected by vibrations.

[0031] The angle sensor can comprise a magnet and a magnetic field sensor. The angle sensor can be arranged at least partially on an axis corresponding to the angle of the treatment brush relative to the vertical, e.g., on an inclination axis that defines the angle of inclination of the brush. In particular, the axis or inclination axis can correspond to a pivot axis of the brush, by means of which the angle of the treatment brush is adjusted. Furthermore, the magnet can be arranged remotely from the magnetic field sensor on the inclination axis of the brush. The angle sensor can also be configured to detect a change in the orientation of the magnetic field of a magnet.

[0032] The device may further comprise at least one element selected from: a device for monitoring the power consumption of the rotating treatment brush; a device for monitoring the rotation of the rotating treatment brush; and a device for determining the contour and / or position of the outer surface.

[0033] The aforementioned embodiments of the device may include corresponding modifications as the above-explained embodiments of the method for treating a vehicle and enable the same advantageous effects as the above-explained embodiments of the method with corresponding or analogous features.

[0034] A further embodiment of the invention relates to a use of a device according to one of the preceding embodiments for carrying out a method according to one of the preceding embodiments.

[0035] An additional embodiment of the invention provides a computer program product or computer program comprising program elements that cause an execution unit, in particular a vehicle treatment system or a device according to one of the preceding embodiments, to execute the method according to one of the preceding embodiments when the program elements are loaded into a memory of the execution unit, in particular into the memory and control unit of the device according to one of the preceding embodiments, or into a memory of a server or computer that is in data-conducting connection with the execution unit. Embodiments provide a corresponding computer program and / or a computer-readable medium on which the computer program is stored. The server and / or the computer can be connected to the vehicle treatment system in a wired or wireless manner and / or integrated therein.

[0036] In the aforementioned embodiments of the vehicle treatment system and / or the computer program product and / or the computer program, corresponding modifications can be implemented as in the above-explained embodiments of the method for operating a vehicle treatment system, and these can enable the same advantageous effects as the above-explained embodiments of the method with corresponding features.

[0037] In the following detailed description of the figures, further non-limiting embodiments, along with their features and further advantages, are explained with reference to the figures. All features or method steps of embodiments and examples described here and not mutually exclusive can be combined with one another. Identical elements of the embodiments are provided with the same reference numerals in the following description. Elements of one embodiment can be used in the other embodiments without further mention. Short description of the characters

[0038] Fig. 1 schematically shows, as an embodiment according to the invention, a device 10 after the vehicle has entered; Figs. 2a to 2c schematically show the device 10 during steps a) to d) of one embodiment of the method; Figs. 3a to 3c schematically show, as an embodiment according to the invention, a device 11 during steps a) to d) of another embodiment of the method; and Fig. 3d schematically shows the device 11 during an alternative step d) of the other embodiment of the method. Detailed description of the invention

[0039] The term "adapting" encompasses modifying the path of the treatment brush, e.g., modifying a path predetermined by a spatial specification and, optionally, a temporal specification. The path of the invention is specified by a treatment program established before the start of the treatment process, e.g., after entering or determining the vehicle type and / or after an initial contour detection of the vehicle. For example, the path, viewed from a top view of the roof surface, can run essentially parallel to the side and / or rear surface to be treated. The term "adapting" can encompass controlling and / or regulating the path of the treatment brush. At least one element selected from the treatment brush, the brush displacement device, and the brush rotation drive can be controlled or adjustable, in particular by means of the device for adapting the path of the treatment brush.

[0040] "Angle of the treatment brush parallel and / or perpendicular to the outer surface" or "angle of the treatment brush in an angular range parallel and / or perpendicular to the outer surface" means in the present case that the treatment brush can be / will be oriented at least partially at an angle that lies in a plane substantially parallel to the outer surface or in a plane that encloses an angle of more than 0° to less than 180° with the outer surface.

[0041] The term "bypassing" encompasses advancing the treatment brush along an adapted path such that the treatment brush is in contact with the outer surface and / or with the contour of the outer surface causing the deviation of the monitored angle at an increased distance. The term "bypassing" further encompasses advancing the treatment brush along an adapted path such that the treatment brush is not in contact with the outer surface and / or with a contour of the outer surface causing the deviation of the monitored angle.

[0042] The term "power consumption of the (rotating) treatment brush" is synonymous with "power consumption of the brush drive" or "power consumption of the brush rotation drive." The same applies to the term "power loss."

[0043] In the following, the treatment brush is described as a cleaning brush, but the treatment of the vehicle is not limited to cleaning. The angle of the brush is also referred to as the inclination angle. The term "inclination sensor" refers to a precision mechanical or electrical measuring device that establishes a precise reference to the vertical direction for the treatment brush or monitors changes in the inclination angle. The term "type" of the exterior surface refers to the fact that the exterior surface can be a side surface, a rear surface, a front surface, or a roof surface of the vehicle.

[0044] Fig. 1 shows, as an embodiment of the invention, a device 10 for cleaning a vehicle after the vehicle has been driven in, using the example of a gantry car wash.

[0045] The vehicle has at least one outer surface 12, 13, wherein Fig. 1two side surfaces 12 and a rear surface 13 are shown, each inclined at an angle to the vertical.

[0046] The device 10 comprises a frame with a cross member, on which two side brushes 16 are arranged as treatment brushes, each mounted on a suspension of a brush displacement device 18a and rotatable about a central, longitudinal axis of rotation of the brush. The brush body or the bristles of the side brushes can be made of, for example, polyethylene (PE) foam, PE filaments, or polypropylene (PP) felt. As can be seen from Fig. 1 As can be seen, the side brushes are attached to the upper end of their respective rotational axes on the respective suspension. Before commissioning the device, the side brushes 16 and their rotational axes are to be Fig. 1shown vertically aligned. The side brushes 16 can each be moved by means of the cross member substantially parallel to and along the side surfaces 12 and by means of a carriage provided on the cross member substantially parallel to and along the rear surface 13.

[0047] The suspensions of the brush displacement device 18a each comprise (not shown) a brush holder and a brush rotation drive, with which the respective side brush can be set in rotation about its central axis of rotation. The suspensions are each provided with two actuators (not shown), e.g., linear drives with pneumatic or hydraulic cylinders. The actuators can pivot the central axis of rotation of the respective side brush about a pivot axis (not shown) substantially parallel to the side surface of the vehicle and about a pivot axis (not shown) substantially parallel to the rear surface of the vehicle, in each case while providing a residual free pivotability of the cleaning brush of at least + / -1°. Further exemplary details of the suspension can be found in DE102104112388 A1.

[0048] The device 10 further includes a device for determining the contour of the outer surfaces 12 and / or 13. This device can comprise an image capture device, a roof brush or side brush or roof dryer that follows the contour of the vehicle, light barriers or light grids, radar or ultrasonic sensors, an input device, a database, and / or a vehicle type recognition device. The device for determining the contour of the outer surfaces serves to detect the contour of the vehicle, which can be performed with the device of the present example at the beginning or during the process for cleaning the vehicle. For example, the 3D contour or the height contour of the vehicle can be determined.

[0049] The device 10 also has a device 18b for adjusting the angle of inclination of the side brushes 16 to the vertical in at least one predetermined angular range parallel and / or perpendicular to the outer surfaces 12 and 13. In the present example, the device 18b is realized with the suspension described above and the actuators with which the brush rotation axis can be pivoted parallel to the rear surface 13 and / or parallel to the side surfaces 12 of the vehicle.

[0050] The device 10 also includes a device 20 for monitoring the angle of inclination of the side brushes relative to the vertical. In the present example, the device 20 is designed as an angle sensor that determines the angle of inclination of the respective brush or its rotational axis relative to the vertical. At least one angle sensor is provided for each side brush.

[0051] The device 10 also includes a device for adapting the path of the side brushes 16 if the monitored angle of inclination deviates from a predetermined angle range. In the present case, the device for adapting the path of the side brushes comprises the brush displacement device 18a, the device 18b for adjusting the angle of inclination of the side brushes 16 relative to the vertical, and the device 20 for monitoring the angle of inclination of the side brushes relative to the vertical. In other examples, the device 18b for adjusting the angle of inclination of the treatment brush(es) is an optional component of the device for adapting the path of the treatment brush(es).In the present example, the adaptation device comprises a data-processing storage and control unit 22, which is connected in a data-conducting manner to the brush displacement device 18a, the brush rotation drive, the device 18b for adjusting the angle of the side brushes, and the device 20 for monitoring the angle of the side brushes. The device is configured to store data received from these devices and to control the cleaning method. For this purpose, a program and / or control commands are or will be implemented in the storage and control unit 22, which are / are designed to execute and / or control a method according to one of the embodiments.The program may be implemented by a computer program product or computer program whose program elements cause the storage and control unit 22 and the system 10 to carry out the cleaning method when the program elements are loaded into the storage and control unit 22.

[0052] Thus, through the data-conducting and data-processing networking of the brush displacement device 18a, the brush rotation drive, the device 18b for adjusting the inclination angle of the side brushes 16 to the vertical, and the device 20 for monitoring the inclination angle of the side brushes to the vertical, a control or regulation device is realized by means of which the path of the treatment brush can be adapted. In the present example, the paths of the side brushes 16 can be adapted. Before adaptation, the paths of the side brushes are predetermined by a spatial specification and run parallel to the side surfaces 12 and / or parallel to the rear surface 13.

[0053] In the present example, the predetermined angular range is -45° to +45° to the vertical when the side brush is pivoted parallel to the treated outer surface. If the side brush 16 is pivoted towards the vehicle, in this example the predetermined angular range is -10° to +30°, preferably -5° to 30°, in the direction of the treated outer surface. As explained above, the side brushes 16 in the present example can be pivoted essentially parallel to the side surfaces 12 of the vehicle and essentially parallel to the rear surface 13 of the vehicle. Therefore, the side brushes 16 can each be oriented at least partially at an angle of -10° to +30° towards the vehicle, i.e. towards the treated side surface and / or rear surface, starting from the vertical.The angle lies in a plane that is essentially parallel to the relevant side or rear surface or forms an angle of more than 0° to less than 180° with the side or rear surface.

[0054] In operation, the device 10 is used to carry out an embodiment of the method according to the invention for treating a vehicle with at least one outer surface.

[0055] In one example, the method includes the steps: a) Adjusting the angles of the side brushes 16 relative to the vertical in a predetermined angular range parallel and / or perpendicular to the respective side surface 12; b) Guide the side brushes 16 along the side surfaces 12, each on a path during the cleaning process; c) Monitor the angles of the side brushes 16 to the vertical parallel and / or perpendicular to the outer surface during step b); and d) Adapting the path of at least one of the side brushes if a deviation of the monitored angle of the at least one side brush from the predetermined angular range is determined in step c).

[0056] The procedure of this example will now be explained using the Figures 1 and 2a to 2c described. Fig. 1 shows the device 10 with the side brushes 16 after the vehicle has been retracted. Fig. 2a to 2c represent the device 10 during steps a) to d) of the method.

[0057] In this example, the paths of the side brushes 16 are specified by a treatment program that is defined before the start of the treatment process. For this purpose, an initial contour detection of the vehicle is performed. For this purpose, the traverse can be moved over the entire length of the vehicle, for example, using a camera. Alternatively or additionally, the paths of the side brushes 16 can be calculated and specified during the treatment process using sensor data from light barriers and displacement sensors.

[0058] The side brushes 16 of the device 10 are set in rotation about their axis of rotation, which in Fig. 1is shown schematically. Subsequently, in step a), the angles of inclination of the side brushes 16 in the direction of the side surfaces 12 are set to approximately 20° relative to the vertical. The angles of inclination of the side brushes are thus each in a plane perpendicular to the side surfaces. In the present example, the angles of inclination of the side brushes 16 essentially correspond to the angles of inclination of the side surfaces 12, as can be seen from Fig. 2ais evident. In a plan view (not shown) of the side surfaces 12, ie in the planes parallel to the side surfaces 12, ie in the present example in the direction of travel of the vehicle, the side brushes 16 are not deflected. In both planes, a residual free pivotability of the side brushes within an angular range of + / - 1° is permitted. In the plane perpendicular to the side surfaces 12, the angular range predetermined for the angle of inclination is therefore 19° to 21°. In the plane parallel to the side surfaces, the angular range predetermined for the angle of inclination is + / - 1°.

[0059] The side brushes 16 are then moved to the side surfaces 12 of the vehicle by moving the suspensions of the brush moving devices 18a along the cross member and, in step b), are guided along the side surfaces by moving the cross member on the predetermined paths which, when viewed from above onto the roof surface, run essentially parallel to the side surfaces 12.

[0060] During step b), i.e., while the side brushes 16 are guided along the side surfaces 12, the inclination angles of the side brushes are continuously monitored by the device 20 for monitoring the inclination angles of the side brushes, in this example, the angle sensor. This corresponds to step c) of the method.

[0061] As long as the end of the side surfaces 12 is not reached, steps b) to d) are continued, and it is continuously determined (step c)) whether the monitored inclination angles of the side brushes deviate from the predetermined angular range. A tolerance range of the angle sensor of ±3°, preferably ±0.1°, can be taken into account. If the inclination angles of the side brushes are essentially within the predetermined angular range, steps b) to c) are continued until the end of the side surfaces 12 is reached.

[0062] If the angle of inclination of one or both side brushes is not substantially within the predetermined angle range, the path(s) of the side brushes are adapted in step d). This is described in Fig. 2b and 2cshown. In the present example, a right side door of the vehicle surprisingly opens before the right side brush has reached it. As soon as the right side brush 16 reaches the open side door, the right side brush is deflected in a plane parallel to the side surface. This is detected by the device 20 for monitoring the angle of inclination of the side brush 16 in the present example within approximately 100 ms and reported to the storage and control device 22. The brush displacement device 18a simultaneously reports the position data of the unforeseen vehicle contour, i.e., the open side door.

[0063] The storage and control device 22 then causes the brush moving device 18a to move the right side brush 16 away from the vehicle, so that it is separated from the vehicle. This means that there is no longer any contact between the side brush and the vehicle, including the open door, as shown in Fig. 2c shown. In this way, the path of the right-hand side brush is adapted and the side brush is prevented from damaging the side door of the vehicle. In the present example, the right-hand side brush 16 is additionally aligned vertically by the device 18b for setting an angle. The period from the start of the detection of the undesired deflection of the right-hand side brush to the initiation of the adaptation is approximately 0.3 s in the present example. Monitoring based on the angle of inclination of the treatment brush thus shows a relatively short dead time, i.e. a short period of time in which an existing malfunction or deviation from the desired treatment process is not detected.

[0064] In a modification of the example, the rotation of the right side brush 16 can also be stopped so that the penetration of cleaning fluid through the open side door into the vehicle interior is minimized.

[0065] The cleaning process continues with the left side brush, moving it along the left side surface 12. The right side brush 16 continues along an adapted path while maintaining separation from the vehicle. This circumvents a contour of the outer surface that caused the deviation of the monitored angle—in this case, the right side door. As soon as the side brushes 16 reach the end of the side surfaces 12, the cleaning process is terminated.

[0066] Alternatively or additionally, before, during, or after separating the right side brush 16 from the vehicle, a check can be made to determine whether the cleaning process can be continued with the right side brush separated. If it is determined that this is not feasible, e.g., because too much cleaning fluid would penetrate the vehicle interior through the open side door or because there is insufficient space for the right side brush to continue along the adapted path, the treatment process is interrupted or terminated.

[0067] As explained above, in the present example, the device 20 for monitoring the angle of the side brushes is designed as an angle sensor. The angle sensor comprises a magnet and a magnetic field sensor. Since it is a magnetic angle sensor, interference with the angle sensor caused by vibrations, temperature fluctuations, humidity, or water pressure is minimized. When monitoring the angle of inclination of the brush, the change in the orientation of the magnetic field is determined. In the present example, the magnet is arranged away from the magnetic field sensor on the pivot axis of the respective brush. The magnet is mounted at a distance from the magnetic field sensor on the pivot axis with which the angle of inclination to be monitored is set, and the magnetic field sensor is provided on the brush suspension, but not on the pivot axis.The angle sensor can thus monitor the brush's inclination angle essentially continuously and with particularly high accuracy. In embodiments with multiple pivot axes per brush, an angle sensor can be provided for each pivot axis of the respective brush. It should be noted that all embodiments in which an angle sensor is used enable particularly precise sensor and actuator technology because the angle sensor is advantageously neither a point sensor nor an acceleration-based sensor. The same applies to embodiments and examples in which an inclination sensor is used in the device 20 for monitoring the angle of the side brushes.

[0068] The method is carried out in a similar manner when the right or left side brush is cleaning a side surface and its angle is deflected parallel and / or perpendicular to the cleaned surface, deviating from a predetermined angular range, due to a side sliding door that is open or opens during the cleaning process. In this case, as with other undesired openings in the exterior surfaces to be cleaned, a monitored power consumption of the rotating side brush can be used as an additional indicator for this specific vehicle contour that is causing a disruption to the cleaning process. In addition to the angular deviation, a sudden drop in power of the rotating side brush or its rotation drive is detected when the side brush is no longer in contact with the side surface, or is in contact with it to a lesser extent, due to the opening in the side surface created by the open sliding door. The path of the side brush is then adapted, e.g.by separating the side brush from the vehicle, bypassing the sliding door, stopping the rotation and / or checking the feasibility of the same as described above.

[0069] In a modification of the example of the device 10 and the associated method, only one side brush 16 with a corresponding brush displacement device 18a can be provided or used instead of two. In alternative examples of the method, the rotation of the side brushes 16 can also be initiated during step b). Furthermore, the movement of the side brushes 16 toward the side surfaces 12 can also occur before step a).

[0070] The present example of the device 10 and the method implemented therewith is described with reference to a gantry car wash. However, the invention is not limited thereto and can be implemented in an analogous manner, for example, with a car wash. For example, the device and the method according to embodiments can also be implemented with a roof brush which can be guided in a car wash on a path perpendicular to the roof surface of the vehicle - with a remaining free pivoting capability parallel and / or perpendicular to the roof surface - by adjusting the height position of the roof brush and which cleans the vehicle transported in the car wash. If the roof brush is mounted on the roof of the vehicle with an unusual contour, e.g.a bicycle rack, its angle is deflected parallel and / or perpendicular to the roof surface deviating from a predetermined angular range, for example + / - 85° to the vertical if the roof brush is suspended like a pendulum. The path of the roof brush is adapted by changing its height position according to step d) of the method, thus avoiding damage to the vehicle roof, the unusual contour and the roof brush. The method is carried out in a similar way if the roof brush is cleaning a rear surface or a front surface and its angle is deflected parallel and / or perpendicular to the cleaned surface deviating from a predetermined angular range by an unusual vehicle contour, such as a tailgate or bonnet that is open or opens during the cleaning process.

[0071] In a further example, a device 11 with two side brushes 16 and a roof brush 17 and an associated method for cleaning the rear surface 13 are used. The device 11 corresponds to the device 10, with the roof brush 17 additionally being provided, as Fig. 3a to 3dshow. First, the side brushes 16 are used to clean the rear surface 13 and steps a) to d) of the method for the rear surface 13 are carried out. For this purpose, the angle of inclination of the side brushes 16 is set, for example, according to an angle of inclination of the rear surface 13. This is done by means of the suspensions of the brush moving device 18a, wherein the central axes of rotation of the side brushes 16 are each pivoted about the pivot axis essentially parallel to the side surfaces of the vehicle, i.e. in the present example in the direction of travel of the vehicle, using the corresponding actuators. A residual free pivotability of the side brushes of + / -1° is provided. The predetermined angular ranges thus correspond in the present case to the angle of inclination of the rear surface + / -1° perpendicular to the rear surface and to the vertical + / -1° parallel to the rear surface.To clean the rear surface, the rotating side brushes are moved from the end of the side surfaces 12 along the rear surface 13 and towards each other, which is shown in . Fig. 3a is shown.

[0072] If the angle of inclination of one or both side brushes 16 is not substantially within the predetermined angle range when cleaning the rear surface 13, the path(s) of the side brushes are adapted. This is shown in Fig. 3b and 3c In the present example, a spare wheel is provided in the center of the rear surface. As soon as the side brushes 16, which are oriented vertically in plan view of the rear surface 13, reach the spare wheel, they are deflected from the vertical essentially parallel to the rear surface 13, as shown in Fig. 3bThis is detected by the respective devices 20 for monitoring the inclination angles of the side brushes 16 in the present example within approximately 100 ms and reported to the storage and control device 22. The storage and control device 22 then causes the brush moving device 18a to separate the side brushes 16 from the vehicle at the side, so that there is no contact between the side brushes and the vehicle, as shown in Fig. 3c shown. In this way, the path of the side brushes is adapted and it is avoided that the side brushes damage the vehicle's spare wheel. The storage and control device 22 now activates the roof brush 17, which is guided along the rear surface 13 at such a distance that it cleans the spare wheel, which in Fig. 3cis shown. The time period from the beginning of the detection of the undesired deflection of the side brush(es) to the initiation of adaptation is approximately 0.3 s in the present example. Monitoring based on the angle of inclination of the treatment brush thus shows a relatively short dead time, i.e., a short period of time during which an existing disturbance or deviation from the desired treatment process is not detected.

[0073] In a variation of the step of Fig. 3c One of the side brushes, e.g. the right side brush 16, can not be separated from the vehicle, but instead of the roof brush 17 can be guided along the rear surface 13 at such a distance that it cleans the spare wheel. This is in Fig. 3dshown. The side brush is aligned parallel and perpendicular to the rear surface, essentially vertically. Alternatively, the side brush can be aligned at an angle towards the rear surface 13. In this way, the side brush 16 is guided around a contour of the rear surface causing the deviation of the monitored angle, ie in this case the spare wheel, in such a way that the side brush 16 remains in contact with the vehicle, here the spare wheel, and cleans the contour of the vehicle being guided around. The side brush 16 is guided around the contour of the vehicle in relation to the Fig. 3c The cleaning described with the roof brush 17 can also be carried out.

[0074] Furthermore, in variations of the above example, the Fig. 3a to 3dIf the spare wheel is located to the right or left of the center of the rear surface 13, only the side brush 16 that reaches the spare wheel first is deflected out of the predetermined angular range. The path of the side brush deflected first is then adapted by circling the spare wheel with this side brush and cleaning the spare wheel as described above. Alternatively, the path can be adapted by separating the side brush deflected first or both side brushes from the vehicle and cleaning the spare wheel with the roof brush 17 as described above. In an additional modification, the other side brush 16 is guided further along the rear surface 13 until it too is deflected out of the predetermined angular range parallel to the rear surface 13 at the spare wheel. In this way, the exact position and dimensions of the spare wheel can also be determined by means of the brush displacement devices 18a of the two side brushes.The spare wheel can then be cleaned (once again) with one of the two side brushes 16 by moving around it and / or with the roof brush 17 as described above.

[0075] In the aforementioned example, instead of the spare tire on the rear, an open tailgate or one that opens during the cleaning process, or an unfolded bicycle rack can cause the monitored angle of the side brush to deviate from the predetermined angle range. The described procedure is then carried out analogously, and the path of the side brush is adjusted to avoid damage to the vehicle.

[0076] The Fig. 3a, 3b and 3dThe steps shown can also be performed with device 10 without a roof brush. According to further examples, the side brushes can be used to first clean the side surfaces and then an adjacent rear surface. For this purpose, the examples explained with reference to devices 10 and 11 can be combined. Alternatively, the rear surface can be cleaned first and then the adjacent side surfaces.

[0077] In further modifications of the above examples, the devices 10 and 11 and the associated methods can analogously comprise or use at least one rear brush for cleaning the rear surface 13. The rear brush can exclusively clean the rear surface 13. The rear brush can, for example, be provided vertically aligned on a further cross member of the washing portal, separate from the side brushes, and can be guided along it parallel to the rear surface 13 by means of a carriage arranged on the associated cross member. At least one rear brush for cleaning the rear surface 13 and / or at least one front brush for cleaning the front surface of the vehicle can also be provided analogously in a car wash.

[0078] It is understood that the suspension of the brush displacement device 18a of the respective cleaning brush(es) can be modified for the above-described cases of cleaning only the side surfaces and cleaning only the rear surface. If only one or two side surfaces are cleaned, a pivot axis and an actuator may be sufficient for the brush suspension, with which the central axis of rotation of the brush can be pivoted essentially parallel to the rear surface of the vehicle. In the case of a rear brush that only cleans the rear surface, a pivot axis and an actuator can be provided, by means of which the central axis of rotation of the brush can be pivoted essentially parallel to the side surface of the vehicle. Furthermore, in alternative embodiments of the device and the method, other suspensions of the cleaning brushes can be provided.For example, at least one of the cleaning brushes can be suspended freely from the upper end of the brush axis, in particular on a cantilever arm at the upper end of the brush axis or on two cantilever arms at the upper and lower ends of the brush axis. In this case, the angle of inclination of the brush can be adjusted via the cantilever arm(s) while supporting the brush on the respective exterior surface of the vehicle to be cleaned.

[0079] In a further embodiment of the method, during an initial contour detection, as mentioned above, the height of the vehicle can be determined and from this an upper and lower limit value of the predetermined angular range parallel and / or perpendicular to the outer surfaces can be derived.

[0080] As can be seen from the above examples, the path of the treatment brush is adapted if, in step c) of the method, a deviation of the monitored angle of the treatment brush from the predetermined angular range is detected. Thus, embodiments of the device and the method allow the path of the treatment brush(es) along the outer surfaces to be automatically adapted to the entire outer contour of the vehicle, i.e., even to unusual or unexpected contours of the outer surfaces. This leads to a particularly thorough cleaning of the vehicle and to a high level of operational reliability. In this way, even unusual and undesirable situations during vehicle treatment, e.g.Using sensor values from angle or inclination sensors, and optionally through any combination with sensor values from light barriers, power measurement, and displacement sensors, these can be automatically detected, and adjustments to the program sequence can be initiated automatically. The processes, which are adaptively adapted to the respective situation, can be executed until the device for treating the vehicle can return to normal operation or falls into a fault state after a certain number of adaptation attempts or a maximum time has been exceeded.

[0081] For example, if the treatment brush gets caught on a vehicle attachment while treating an exterior surface, the brush is unexpectedly deflected out of the predetermined angular range. Instead of simply continuing treatment or going straight into error mode, the device for treating the vehicle resets the brush against the desired inclination angle within the predetermined angular range and attempts to treat the area of the attachment again. Alternatively, the area of the attachment is avoided. This way, for example, a spare wheel that is unexpectedly present on the rear of a vehicle and its surroundings can still be treated. The information generated by the method about the attachment, e.g. its position and / or size, can be stored in the system and can also be used in downstream processes such as chemical application, drying, etc.In addition to the normal treatment process, additional units can be activated to collect additional information, e.g. a light barrier of a roof dryer for length measurement.

[0082] Furthermore, the feasibility of adapting the treatment brush's path can be tested during and / or before performing the adaptation. For example, if the treatment brush and its brush material become caught on a vehicle attachment (e.g., trailer hitch) while treating an exterior surface, and the brush is unexpectedly deflected from the predetermined angular range, the brush can be rotated in the opposite direction, for example, to adapt its path. This can allow the brush material to detach from the attachment again. Additionally, the feasibility of this adaptation measure can be tested before the brush's rotation direction is changed.

[0083] In one example of testing the feasibility of an adaptation step, sensor data, e.g. from light barriers, can be used to check whether there is sufficient space for the brush to continue operating during adaptation. If this check shows that there is not enough space for the brush to adapt, the treatment process is interrupted or ended. In an alternative example of testing the feasibility, during and / or before adapting the brush path, the power of the brush drive can be measured to check whether the brush drive is operating at its performance limit. If this is the case, the treatment process is interrupted or ended. In addition, the sensitivity of the measurement can be increased to measure the power of the brush drive.

[0084] Finally, it should be noted that the description of the invention and the exemplary embodiments are not intended to be restrictive with regard to a specific physical implementation of the invention. All features explained and shown in connection with individual embodiments of the invention can be provided in various combinations in the subject matter of the invention in order to simultaneously realize their advantageous effects.

[0085] The scope of the present invention is given by the claims and is not limited by the features explained in the description or shown in the figures. REFERENCE SYMBOL

[0086] 10, 11Device for treating a vehicle with at least one outer surface 12Side surface 13Rear surface 16Side brush 17Roof brush 18aBrush displacement device 18bDevice for adjusting an angle of the treatment brush relative to the vertical 20Device for monitoring the angle of the cleaning brush 22Control

Claims

1. Method for treating, in particular cleaning, a vehicle having at least one outer surface (12, 13), comprising a) Adjustment of an angle of a treatment brush (16; 17) relative to the vertical in at least one predetermined angular range parallel and / or perpendicular to the outer surface (12, 13) , wherein the angle of the treatment brush (16, 17) is adjusted while providing a pivotability of the treatment brush (16, 17) ; b) Guiding the treatment brush (16; 17) along the at least one outer surface (12, 13) on a predetermined path during a treatment process, the predetermined path being predetermined by a treatment program defined before the start of the treatment process c) Monitoring the angle of the treatment brush (16; 17) to the vertical parallel and / or perpendicular to the outer surface during step b); and d) Adapting the predetermined path of the treatment brush if a deviation of the monitored angle of the treatment brush from the at least one predetermined angle range is determined in step c)2. Method according to claim 1, wherein adapting the predetermined path comprises at least one step selected from i) Repeating at least one of steps a) through d); ii) Repeating at least one of steps a) to d) with a modified distance of the treatment brush from the outer surface; iii) Repeating at least one of steps a) to d) with a modified angle of the treatment brush to the vertical parallel and / or perpendicular to the outer surface iv) Repeating at least step b) of steps a) to d), wherein in step b) a change of direction is carried out when moving along v) Moving around a contour of the outer surface causing the deviation of the monitored angle vi) Increasing the distance between the treatment brush and the outer surface vii) Separating the treatment brush from the vehicle; viii) Stopping a rotation of the treatment brush; ix) treating a contour of the outer surface causing the deviation of the monitored angle with at least one other treatment brush x) Changing the direction of rotation of the treatment brush; xi) Varying the sensitivity of the power measurement; and xii) Checking the feasibility of at least one of steps i) to xi) and interrupting or terminating the treatment process if it is determined that the at least one of steps i) to xi) is not feasible.

3. Method according to claim 1 or 2 wherein the treatment brush is guided along the at least one outer surface on one or more adapted paths until at least one of the following conditions is met - the monitored angle of the treatment brush is within the at least one predetermined angle range - the path of the treatment brush has been adapted a predetermined number of times; and - the treatment brush has been guided along the outer surface on one or more adapted paths for a predetermined time.

4. Method according to any one of the preceding claims 1 to 3, wherein the at least one exterior surface is selected from a side surface, a rear surface, a front surface, a roof surface, any combination thereof and any number thereof, and the at least one predetermined angular range is bounded by an upper limit value and / or a lower limit value which varies depending on the type of exterior surface; and / or the upper and lower limit values for the at least one predetermined angular range parallel and / or perpendicular to exterior surfaces of the vehicle are derived from a height of the vehicle determined during an initial contour detection of the vehicle; and / or wherein the at least one exterior surface is selected from a side surface, a rear surface, a front surface, any combination thereof, and any number thereof, and the at least one predetermined angular range is -45° to +45° from vertical; and / or wherein the at least one exterior surface is a roof surface and the at least one predetermined angular range is -85° to +85°; and / or wherein step c) is performed using an angle sensor or a tilt sensor5. Method of claim 4, wherein the angle sensor comprises a magnet and a magnetic field sensor; and / or wherein in step c) a change in the orientation of the magnetic field of a magnet is determined.

6. Method according to any one of claims 1 to 5, wherein the contour and / or position of the outer surface is determined; and / or wherein the treatment brush rotates and step c) comprises at least one step selected from: monitoring the power consumption of the rotating treatment brush and monitoring the rotation of the rotating treatment brush.

7. Apparatus for treating, in particular cleaning, a vehicle having at least one outer surface (12, 13) with a method according to one of claims 1 to 6, comprising at least one treatment brush (16; 17) which can be guided along a predetermined path on the at least one outer surface, the predetermined path being predetermined by a treatment program defined before the start of the treatment process; a brush traversing device (18a) for guiding the treatment brush along the outer surface to be treated on the predetermined path; a device (18b) for setting an angle of the treatment brush (16; 17) relative to the vertical in at least one predetermined angular range parallel and / or perpendicular to the outer surface, wherein the angle of the treatment brush (16, 17) is set while providing a pivotability of the treatment brush (16, 17); means (20) for monitoring the angle of the treatment brush to the vertical parallel and / or perpendicular to the outer surface during the treatment process; and means (18a, 18b, 20) for adapting the predetermined path of the treatment brush when the monitored angle of the treatment brush deviates from the at least one predetermined angular range.

8. Apparatus according to claim 7, wherein the treatment brush is rotatably mounted and the device comprises a brush rotation drive; and / or wherein the means for adapting the predetermined path of the treatment brush comprises a data-processing storage and control unit (22) which is connected in a data-conducting manner to at least one device selected from the brush traversing device, the brush rotation drive, the device for setting an angle of the treatment brush and the means for monitoring the angle of the treatment brush, which is designed to store data received from these devices and which is designed to control the method according to one of claims 1 to 6.

9. Apparatus according to claim 7 or 8, wherein at least one element selected from the treatment brush, the brush traversing device and the brush rotation drive is controllable by means of the device for adapting the predetermined path of the treatment brush; and / or wherein a program is implemented in the device for adapting the predetermined path of the treatment brush, which program is designed to cause the device according to claim 7 or 8 to carry out a method according to one of claims 1 to 6.

10. Apparatus according to any one of claims 7 to 9, wherein the at least one exterior surface is selected from a side surface, a rear surface, a front surface, a roof surface, any combination thereof and any number thereof, and the at least one predetermined angular range is bounded by an upper limit value and / or a lower limit value which varies depending on the type of exterior surface; and / or the upper and lower limit values for the at least one predetermined angular range parallel and / or perpendicular to exterior surfaces of the vehicle are derived from a height of the vehicle determined during an initial contour detection of the vehicle; and / or wherein the at least one exterior surface is selected from a side surface, a rear surface, a front surface, any combination thereof, and any number thereof, and the at least one predetermined angular range is -45° to +45° to the vertical; and / or wherein the at least one exterior surface is a roof surface and the at least one predetermined angular range is -85° to +85° to the vertical.

11. Apparatus according to any one of the preceding claims 7 to 10, wherein the device for monitoring the angle of the treatment brush comprises an angle sensor or a tilt sensor12. Apparatus of claim 11, wherein the angle sensor comprises a magnet and a magnetic field sensor; and / or wherein the angle sensor is adapted to detect a change in the orientation of the magnetic field of a magnet.

13. Apparatus according to any one of claims 7 to 12, further comprising at least one element selected from: a device for monitoring the power consumption of the rotating treatment brush; a device for monitoring the rotation of the rotating treatment brush; and a device for determining the contour and / or position of the outer surface.

14. Use of an apparatus according to any one of claims 7 to 13 for carrying out a method according to any one of claims 1 to 6.

15. Computer program product or computer program comprising program elements which cause an execution unit, in particular a vehicle treatment system or an apparatus according to any one of claims 7 to 13, to execute the method according to any one of claims 1 to 6 when the program elements are loaded into a memory of the execution unit or into a memory of a server or computer in data communication with the execution unit.

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